A pan-tilt structure has been endowed with the capability of doing the visual tracking of a moving target. Moving objects in the field of view of the camera are detected and the more relevant region colour feature is selected as the pattern to follow. Colour histogram is used as reliable feature to model object appearance and its adaptation handles with… (More)
Worldwide, there is increasing interest in the operation of multiple autonomous underwater vehicles (AUVs) to carry out scientific and commercial missions at sea. For some of the envisioned missions, it is crucial that new methods be developed to localize one more of the vehicles simultaneously, based on acoustic range information received on-board a set of… (More)
This paper describes the design of a dynamic positioning system for a moored floating platform by using robust control techniques, particularly Quantitative Feedback Theory (QFT). The goal is to minimize the drift resulting from the wave action by appropriate thrusters control. The model of the platform is a SIMO (single-input multiple-output) system,… (More)
The objective of this paper is to evaluate the behaviour of a controller designed using a parametric Eigenstructure Assignment method and to evaluate its suitability for use in flexible spacecraft. The challenge of this objective lies in obtaining a suitable controller that is specifically designated to alleviate the deflections and vibrations suffered by… (More)
DEVS Modeling and Simulation (M&S) has multiple implementations with several computer languages such asJava, C# or C++. Therefore emerges the need of a distributed platform to provide interoperability mechanics for simulationand encourage reusability of legacy simulations and integration of diversified DEVS models. In this paper, we apply a… (More)
This article presents the topics in wheeled mobile robotics where the Learning and Vision Mobile Ro-botics Group (IRI) is focusing its efforts. The areas covered include robot localization, color in-variance, segmentation, tracking, audio processing and object learning and recognition. An overview of recent results produced in our group within these areas… (More)
Second-order random graphs for modelling sets of attributed graphs and their application to object learning and recognition.
This article presents the current trends on wheeled mobile robotics being pursued at IRI-UPC-CSIC. It includes an overview of recent results produced in our group in a wide range of areas, including robot localization, color invariance, segmenta-tion, tracking, visual servoing, and object and face recognition.